# C-1N Hexapod Robot: Reproducing Insect Tripod Gait and Testing Pretrained Policies in MuJoCo

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/f3m6mjml6yfo7epzccmbnhw7h
- Original: https://www.guyuehome.com/detail?id=2106077178027339778

## Summary

This article reproduces the C-1N hexapod robot in MuJoCo, testing the inference performance of an open-loop tripod gait and four official pretrained policies. The author quantifies the triple coordination of hexapod walking across four dimensions: phase, support margin, contact load, and residual action magnitude.